Ve.R.O.N.I.C.A (Vermiform, Remotely Operated, Novel, Inductively Charged Apparatus) - Miniature Robot

Team: Anton Larsen, Dustin Wolanski, Kevin Hunt, Daniel Gonzalez, Jack Emery, Ethan Lanphere, Acedemic Advisor: Imen Elloumi-Hannachi, PhD

Need Statement

Design Objectives

Built Device

A very basic idea for a fully enclosed robot, was to use its own skin as the

method of its movement. It would have a jointed internal structure with rollers so

the skin could easily glide around the structure while keeping the internals clear

and clean from water and any debris.

● Remote operation

● Water proof/resistant

● Dust proof/resistant

● Amphibious

● Inductive charging

1. The prototype’s main body, individual segments, and rollers/bearings were made through

3D-Printing, using PLA plastic. This material would be strong enough to create and test the

prototype and could later on be adjusted or changed to make a stronger design.

2. All roller bearings sit on either 2’’ (front and back) or 4” diameter brass rings. Initially, the

roller bearings were planned to be carbon steel deep groove ball bearing, however due to

ordering and cost constraints 3D-Printed alternatives were instead substituted.

3. Electronic components were assembled around the rectangular main body on each of the 4

open sides. These components assembled on a test body with exact dimensions as the

main body for testing purposes.

Conclusion & Future Work

● In conclusion we were able to construct the skeletal structure of the robot complete

with articulating joints, working rollers and most of the key electronic components.

● Further work will need to incorporate the outer skin of the robot, which acts as the

driving mechanism. Limited time and resources prevented us from properly testing

these items.

● Many of the 3D printed items (drive rollers, roller guides, pulleys, skin rollers, and

hinge pins) will need to be machined for the final product to ensure durability,

strength, tolerance, and smoothness.

● The incorporation of a Graphical User Interface (GUI) and camera for the robot

operator would make navigation and feature usability much more user friendly. It

would also reduce the amount of training needed, and simplify controls.

● The combined maximum draw of all six N20 motors and the Raspberry Pi (RPi)

controller was measured to be 2830 mA using an ammeter. 1.2 volt batteries can

provide 2800mAhr of energy and seven of them in series would create a potential

of 8.4 volts. This a sufficient voltage to operate the N20 motors and the controller.

● Using this data, the device will have a theoretical minimum run time of 0.78 hours

(approximately 47 minutes).

● Approximate 1 hour run time

● Low cost

● Small/Light

● Onboard sensors (Video, audio, thermal etc.)

● Able to navigate rough terrain

Final 3D CAD Model of the Robot

Motor Controller

Basic 3D CAD Model

● Power Distribution

● Buck Converter

● Motor Controller

● On board Raspberry Pi

● Roller Bearings

● Brass Rings (to hold bearings)

● Main Body Sections

● Individual Body Segment

● Roller Shaft Bearings

Amperage of RPi (isolated)

Amperage of RPi + 1 motor

Experiment/Analysis

Acknowledgement

Testing

● Troy Dunmire

● Bill Anderson, PhD

A small flexible robot, with the maneuverability and slenderness to

be able to fit in tight spots, and deliver small amounts of food or

medicine. Equipped with a camera, or some ability to send a

message back to the user. Waterproofing is a must, with high

manuverability on land and in water

Problem:

We would like to

address the need for a

means of remotely

accessing hard to

reach, or dangerous

locations.

Population:

Navigate into areas

where humans cannot

go, and can withstand

and navigate

semi-sharp and rough

obstacles.

Outcome:

An autonomous robot that

is waterproof, safer, more

cost efficient, and more

practical for small spaces

being searched or

explored.

Clip bore diameter

(inches)

Clip opening width

(inches)

0.14 0.12

0.142 0.13

0.147 0.135

● The only form of repeatable testing

for the project came from sizing

different components.

● For example, the table on the left

shows various sizes we tested for

our ring clips to ensure a secure fit.

The results of which are the

underlined values, as shown.